INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
artículos
Título:
A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation
Autor/es:
SERRANO, M. E.; GODOY SEBASTIAN; MUT VICENTE; OSCAR A. ORTIZ; SCAGLIA GUSTAVO
Revista:
ROBOTICA
Editorial:
CAMBRIDGE UNIV PRESS
Referencias:
Lugar: Cambridge; Año: 2016 vol. 34 p. 2546 - 2565
ISSN:
0263-5747
Resumen:
This paper addresses the problem of trajectory tracking control in mobile robots under velocitylimitations. Following the results reported in ref. [1], the problem of trajectory tracking consideringcontrol actions constraint is focused and the zero convergence of the tracking errors is demonstrated.In this work, the original methodology is expanded considering a controller that depends not only onthe position but also on the velocity. A simple scheme is obtained, which can be easily implementedin others controllers of the literature. Experimental results are presented and discussed, demonstratingthe good performance of the controller.
